U.S. patent application number 14/525374 was filed with the patent office on 2016-04-28 for vehicle object detection system.
This patent application is currently assigned to Nissan North America, Inc.. The applicant listed for this patent is Nissan North America, Inc.. Invention is credited to Adrian TAN, William M. TIERNEY, JR..
Application Number | 20160119587 14/525374 |
Document ID | / |
Family ID | 55793017 |
Filed Date | 2016-04-28 |
United States Patent
Application |
20160119587 |
Kind Code |
A1 |
TAN; Adrian ; et
al. |
April 28, 2016 |
VEHICLE OBJECT DETECTION SYSTEM
Abstract
A vehicle object detection system includes a vehicle body
structure, a sensing device, a video display and a controller. The
vehicle body structure defines a passenger compartment and has an
underside section a predetermined height above ground. The sensing
device detects height of an object within a prescribed area
adjacent to the underside section as the vehicle body structure
approaches the object. The video display is viewable from within
the passenger compartment and displays images representing the
prescribed area adjacent to the underside section of the vehicle
body structure. The controller is configured to process object
information received from the sensing device in order to determine
the height of the object, and display images on the video display
representing the object along with a representation of the height
of the object relative to the underside section and images
representing the underside section of the vehicle.
Inventors: |
TAN; Adrian; (Northville,
MI) ; TIERNEY, JR.; William M.; (Farmington Hills,
MI) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Nissan North America, Inc. |
Franklin |
TN |
US |
|
|
Assignee: |
Nissan North America, Inc.
|
Family ID: |
55793017 |
Appl. No.: |
14/525374 |
Filed: |
October 28, 2014 |
Current U.S.
Class: |
348/148 |
Current CPC
Class: |
B60R 1/00 20130101; B60R
2300/607 20130101; H04N 7/181 20130101 |
International
Class: |
H04N 7/18 20060101
H04N007/18; G06T 19/00 20060101 G06T019/00; B60R 1/00 20060101
B60R001/00 |
Claims
1. A vehicle object detection system comprising: a vehicle body
structure defining a passenger compartment and having an underside
section located at a predetermined height above ground below the
vehicle body structure; a sensing device configured to detect an
object within a prescribed area adjacent to the underside section
of the vehicle body structure as the vehicle body structure
approaches the object; a video display viewable from within the
passenger compartment configured to display images representing the
prescribed area adjacent to the underside section of the vehicle
body structure; and a controller configured to process object
information received from the sensing device to determine the
height of the object, and display images on the video display
representing the object along with a representation of the height
of the object relative to the underside section and images
representing the underside section of the vehicle body
structure.
2. The vehicle object detection system according to claim 1,
wherein the sensing device includes at least one video camera and
the representation of the height of the object relative to the
predetermined height of the underside section above the ground
controller on the video display is determined from the object
information from video images from the at least one video
camera.
3. The vehicle object detection system according to claim 1,
wherein the sensing device includes at least one video camera, and
the controller is configured to continually determine a location of
the object in response to movement of the vehicle body structure,
and in response to the controller determining that the object is
outside of a viewable range of the video camera, the controller is
further configured to display a faux image of the object on the
video display based upon a determined location of the object.
4. The vehicle object detection system according to claim 1,
wherein the sensing device is a detection and ranging system, and
the representation of the height of the object relative to the
predetermined height of the underside section above the ground
includes faux images generated by the controller in response to
data received from the detection and ranging system.
5. The vehicle object detection system according to claim 1,
wherein the sensing device is a detection and ranging system, and
the controller is configured to continually determine location of
the object in response to movement of the vehicle body structure,
and in response to the controller determining that the object is
determined to be outside of a sensing area of the detection and
ranging system, the controller is further configured to display a
faux image of the object on the video display based upon a
determined location of the object.
6. The vehicle object detection system according to claim 1,
wherein the sensing device is a detection and ranging system, and
the representation of the height of the object relative to the
predetermined height of the underside section above the ground
includes the controller generating a tangent line passing through a
closest surface of the object relative to the vehicle and
superimposing the tangent line onto the video display.
7. The vehicle object detection system according to claim 1,
wherein the sensing device includes a detection and ranging system
and at least one video camera.
8. The vehicle object detection system according to claim 9,
wherein the representation of the height of the object relative to
the predetermined height of the underside section above the ground
includes faux images generated by the controller in response to
data received from the detection and ranging system combined with
video images from the at least one video camera.
9. The vehicle object detection system according to claim 9,
wherein the representation of the height of the object relative to
the predetermined height of the underside section above the ground
includes the controller generating a tangent line passing through a
closest surface of the object relative to the vehicle and
superimposing the tangent line onto the video display.
10. The vehicle object detection system according to claim 1,
wherein the representation of the height of the object relative to
the predetermined height of the underside section above the ground
includes the controller generating a tangent line passing through a
closest surface of the object relative to the vehicle and
superimposing the tangent line onto the video display.
11. The vehicle object detection system according to claim 1,
wherein the controller is configured to determine height of a
plurality of surface of the object in response to the object having
a plurality of detectable surface at differing heights, and the
representation of the height of the object relative to the
predetermined height of the underside section above the ground
includes the controller generating a plurality of tangent lines,
each tangent line representative of differing ones of the plurality
of detectable surfaces of the object, and superimposing each of the
tangent lines onto the video display.
12. The vehicle object detection system according to claim 1,
wherein the representation of the height of the object relative to
the predetermined height of the underside section above the ground
includes the controller generating a rectangular representation of
the object relative to the vehicle and superimposing the
rectangular representation onto the video display.
13. The vehicle object detection system according to claim 1,
wherein the controller is provided with predetermined dimensions
corresponding to physical dimensions of the vehicle body structure,
and the images representing the underside section of the vehicle
body structure are generated based upon the predetermined
dimensions.
14. The vehicle object detection system according to claim 13,
wherein the controller is configured to receive inputted augmented
dimensions such that in response to the augmented dimensions being
received, the predetermined dimensions are replaced with the
augmented dimensions and the images representing the underside
section of the vehicle body structure are generated based upon the
augmented dimensions.
15. The vehicle object detection system according to claim 14,
wherein the controller is configured to generate the augmented
dimensions in response to a portion of the vehicle body structure
being re-positioned.
16. The vehicle object detection system according to claim 1,
wherein the controller is configured to issue a warning signal in
response to determining that the underside section is within a
predetermined distance from the object.
17. The vehicle object detection system according to claim 16,
wherein the underside section includes an outermost outboard
surface and a downward facing surface, the controller being
configured to issue a first warning signal in response to
determining that the outboard surface of the vehicle is approaching
the object, and the controller being configured to issue a second
warning signal different from the first warning signal in response
to determining that the downward facing surface is approaching the
object.
18. The vehicle object detection system according to claim 1,
wherein the underside section is a surface of the vehicle body
structure facing downward.
19. The vehicle object detection system according to claim 1,
wherein the underside section is a lower surface of a bumper fascia
panel.
20. The vehicle object detection system according to claim 1,
wherein the underside section is a surface of a vehicle tire.
Description
BACKGROUND
[0001] 1. Field of the Invention
[0002] The present invention generally relates to a vehicle object
detection system. More specifically, the present invention relates
to an object detection system that detects the heights of objects
as the vehicle approaches the objects.
[0003] 2. Background Information
[0004] Many vehicles are provided with video cameras that are aimed
at areas adjacent to respective sides of the vehicle and are
employed during maneuvers such as, for example, parking and/or
backing up. Such cameras are angled downward such that they do not
provide a vehicle operator with an accurate sense of the actual
height of objects within the camera's field of view, but rather
provide visual object contact confirmation. Some objects that are
visible to the camera can appear to have a very small vertical
dimension (i.e., low height). Consequently, vehicles with a low
clearance where, for example, a lower surface of a spoiler or lower
surface of a bumper fascia is fairly close to the ground, sometimes
get scratched by objects that appear small to the camera but are
high enough to contact underside sections and underside surfaces of
the vehicle.
SUMMARY
[0005] One object of the disclosure is to provide a vehicle with an
object detection system that determines height of an object as the
vehicle approaches the object.
[0006] Another object of the disclosure is to provide with an
object detection system of a vehicle with a display showing height
of an identified object relative to an underside of the vehicle as
the vehicle approaches the object.
[0007] In view of the state of the known technology, one aspect of
the disclosure includes a vehicle object detection system having a
vehicle body structure, a sensing device, a video display and a
controller. The vehicle body structure defines a passenger
compartment and has an underside section located at a predetermined
height above ground below the vehicle body structure. The sensing
device is configured to detect an object within a prescribed area
adjacent to the underside section of the vehicle body structure as
the vehicle approaches the object. The video display is viewable
from within the passenger compartment and is configured to display
images representing the prescribed area adjacent to the underside
section of the vehicle body structure. The controller is configured
to process object information received from the sensing device to
determine the height of the object, and display images on the video
display representing the object along with a representation of the
height of the object relative to the predetermined height of the
underside section above the ground and images representing the
underside section of the vehicle.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] Referring now to the attached drawings which form a part of
this original disclosure:
[0009] FIG. 1 is a perspective view of a vehicle having cameras, an
object detection system and underside sections with low clearance
to the ground below, the cameras being aimed at respective areas
adjacent to side surfaces of the vehicle, with a field of view for
each camera superimposed around the vehicle in accordance with a
first embodiment;
[0010] FIG. 2 is a block diagram of the object detection system of
the vehicle depicted in FIG. 1, the object detection system
including, among other elements, a plurality of the cameras, a
plurality of sensors, a controller, a control panel and a video
display in accordance with the first embodiment;
[0011] FIG. 3 is an elevational view of an instrument panel within
a passenger compartment of the vehicle depicted in FIG. 1, showing
the video display and the control panel of the object detection
system in accordance with the first embodiment;
[0012] FIG. 4 is a representation of the video display with the
object detection system displaying in a side view mode showing a
representation of the vehicle, a height of the underside section of
the vehicle above the ground and a representation of an object a
first distance away from the vehicle as detected by the object
detection system in accordance with the first embodiment;
[0013] FIG. 5 is a second representation of the video display in
the side view mode showing the representation of the vehicle and a
representation of the object a second distance away from the
vehicle as the vehicle approaches the object, the video display
providing an indication of the height of the object as detected by
the object detection system, the video display further showing the
height of the underside surface relative to the height of the
object in accordance with the first embodiment;
[0014] FIG. 6 is a third representation of the video display in the
side view mode showing the representation of the vehicle and a
representation of the object almost in contact with the vehicle as
the vehicle approaches the object, the video display providing an
indication of the height of the object as detected by the object
detection system, the video display further showing the height of
the underside surface relative to the height of the object in
accordance with the first embodiment;
[0015] FIG. 7 is a further representation of the video display in
an around view monitor mode (AVM mode) showing a representation of
front, rear, driver's side and passenger side surfaces, with
indications of the areas adjacent to the front, rear, driver's side
and passenger side surfaces as viewed by the plurality of cameras
mounted to the vehicle in accordance with the first embodiment;
[0016] FIG. 8 is a representation of a portion of the video display
with the object detection system displaying in the AVM mode showing
an object in front of the vehicle as detected by the object
detection system in accordance with the first embodiment;
[0017] FIG. 9 is a representation of the portion of the video
display similar to FIG. 8 with the object detection system
displaying in the AVM mode showing the object in front of the
vehicle as the vehicle approaches the object in accordance with the
first embodiment;
[0018] FIG. 10 is a representation of the portion of the video
display similar to FIG. 9 but slightly enlarged, with the object
detection system displaying in the AVM mode showing a computer
generated representation of the object under the vehicle as the
vehicle moves over the object in accordance with the first
embodiment;
[0019] FIG. 11 is a representation of the portion of the video
display similar to FIG. 4 with the object detection system
displaying in the side view mode showing a second object in front
of the vehicle as the vehicle moves closer to the second object in
accordance with the first embodiment;
[0020] FIG. 12 is a representation of the portion of the video
display similar to FIG. 9 with the object detection system
displaying in the AVM mode showing the second object with a
superimposed computer generated representation of a planar boundary
corresponding to the location of the closest point of the second
object as the vehicle approaches the object in accordance with the
first embodiment;
[0021] FIG. 13 is a representation of the video display with the
object detection system displaying in a parallel parking view mode
showing a representation of a curb or object detected at one
lateral side of the vehicle and showing a representation of a wheel
of the vehicle in accordance with the first embodiment;
[0022] FIG. 14 is a representation of the video display with the
object detection system displaying in the AVM mode showing the curb
or the object detected at the one lateral side of the vehicle in
accordance with the first embodiment;
[0023] FIG. 15 is a flowchart representing basic operational steps
of the object detection system in accordance with the first
embodiment;
[0024] FIG. 16 is a block diagram of an object detection system of
a vehicle, the object detection system including, among other
elements, a plurality of sensors, a controller, a control panel and
a video display in accordance with a second embodiment; and
[0025] FIG. 17 is a block diagram of an object detection system of
a vehicle, the object detection system including, among other
elements, a plurality of the cameras, a controller, a control panel
and a video display in accordance with a third embodiment.
DETAILED DESCRIPTION OF EMBODIMENTS
[0026] Selected embodiments will now be explained with reference to
the drawings. It will be apparent to those skilled in the art from
this disclosure that the following descriptions of the embodiments
are provided for illustration only and not for the purpose of
limiting the invention as defined by the appended claims and their
equivalents.
[0027] Referring initially to FIG. 1, a vehicle 10 is illustrated
in accordance with a first embodiment. The vehicle 10 includes an
object detection system 12 (FIG. 2) that is configured to determine
the height of an object as the vehicle 10 approaches the object.
Further, the height is determined relative to a height of an
underside section 14 of the vehicle 10 such that a vehicle operator
(not shown) is provided with a warning and/or indication of the
proximity of the object to the vehicle 10, specifically, the
underside section 14, as the vehicle 10 continues to move toward
the object, as is described in greater detail below. The vehicle 10
also includes conventional proximity sensors 16 and 16a (FIG. 8)
that are part of a proximity detection system that detects
proximity of objects as outermost surfaces 18 and 18a (FIG. 8) of
the vehicle 10 approach those objects. The conventional proximity
sensors 16 of the proximity detection system are shown in FIG. 1 at
the front of the vehicle 10 (FIG. 1) and at the rear of the vehicle
10 (FIG. 8), as described in greater detail below.
[0028] As shown in FIG. 1, the vehicle 10 includes a vehicle body
structure 20 that defines a passenger compartment 22, the underside
section 14 and outermost surfaces 18. As shown in FIG. 3, the
passenger compartment 22 includes a steering column 24 and an
instrument panel 26.
[0029] As is explained in greater detail below, the underside
section 14 of the vehicle body structure 20 can be defined as any
one, or combinations of the surfaces under the vehicle 10 that face
downward, faces the ground G, or are close to the ground G under
the vehicle 10 or adjacent to the underside section 14 of the
vehicle 10. For example, the underside section 14 can be a lower
surface 32 of a front bumper fascia 34, a surface of one of the
wheels 36, a lower surface of a rear bumper fascia 38, lower side
surfaces of the fenders or doors, splash guards and/or underside
surfaces of fenders adjacent to the wheels 36. For purposes of
understanding the object detection system 12, the underside section
14 is any one or ones of the surfaces of the vehicle 10 or wheel 36
that can come into contact an object in the path of the vehicle 10
when the vehicle 10 is moving, such as during parking and/or
backing up. For purposes of understanding the invention, the
operation of the object detection system 12 is described in a first
example with the underside section 14 being the lower surface 32 of
the front bumper fascia 34. The outermost surfaces 18 and 18a of
the vehicle 10 are generally the front most surface of the front
bumper fascia 34 and the rearmost surface of the rear bumper fascia
38, respectively. The proximity sensors 16 are installed in the
front bumper fascia 34 and the proximity sensors 16a are installed
in the rear bumper fascia 38.
[0030] As shown in FIG. 2, the object detection system 12 basically
includes the proximity sensors 16, a front camera 40, a rear camera
42, a passenger's side camera 44, a driver's side camera 46, a
front sensor 48, a rear sensor 50, a passenger's side sensor 52, a
driver's side sensor 54, a video display 56, a control panel 58,
memory 60 and a controller 62. The various elements of the object
detection system 12 are installed at predetermined locations on or
within the vehicle body structure 20 of the vehicle 10. For
example, as shown in FIG. 1, the front camera 40 is installed to a
front surface of the vehicle body structure 20 above the front
bumper fascia 34. Although not visible in FIG. 1, the rear camera
42 is installed to a rear surface of the vehicle body structure 20
above a rear bumper fascia 38 and the passenger's side camera 44 is
installed to a side of the roof structure or alternatively to a
bottom surface of a side view mirror of the vehicle body structure
20. The driver's side camera 46 is installed to a side of the roof
structure or alternatively to a bottom surface of a side view
mirror, of the vehicle body structure 20.
[0031] As shown in FIG. 1, the front sensor 48 is installed to the
lower surface 32 of the front bumper fascia 34 and the driver's
side sensor 54 is installed to a bottom surface of the vehicle body
structure 20 beneath the driver's side door. The rear sensor 50 and
passenger's side sensor 52 are installed to the rear and
passenger's side of the vehicle body structure 20, respectively, in
similar manners. The proximity sensors 16 and 16a are installed in
the front bumper fascia 34 and the rear bumper fascia 38,
respectively, and are for the purpose of detecting the proximity of
objects that might contact the outermost surface 18 of the front
bumper fascia 34 and another outermost surface 18a on the rear
bumper fascia 38 as the vehicle 10 approaches a detected
object.
[0032] As indicated in FIG. 1, the front camera 40 and the front
sensor 48 are aimed at an area A.sub.1 forward of the vehicle 10
adjacent to the front bumper fascia 34 in order to view and/or
detect objects and the height of those objects within the area
A.sub.1 relative to the underside section 14 of the vehicle 10. The
rear camera 42 and the rear sensor 50 are aimed at an area A.sub.2
rearward of the vehicle 10 adjacent to the rear bumper fascia 38 in
order to view and/or detect objects and further detect the height
and distance of those objects within the area A.sub.2 relative to
the underside section 14 of the vehicle 10. The passenger's side
camera 44 and the passenger's side sensor 52 are aimed at an area
A.sub.3 alongside the vehicle 10 in order to view and/or detect
objects and detect the height and distance of those objects within
the area A.sub.3 relative to the underside section 14 of the
vehicle 10. The driver's side camera 46 and the driver's side
sensor 54 are aimed at an area A.sub.4 alongside the vehicle 10 in
order to view and/or detect objects and detect the height and
distance of those objects within the area A.sub.4 relative to the
underside section 14 of the vehicle 10.
[0033] As shown in FIG. 3, the video display 56 and the control
panel 58 are both installed as a part of the instrument panel
26.
[0034] The object detection system 12 is separate from the above
mentioned proximity detection system. The proximity detection
system utilizes object information detected by the proximity
sensors 16 and 16a. Specifically, the proximity sensors 16 and 16a
are conventional sensors that detect approaching objects that might
contact the outermost surfaces 18 and 18a. In other words, the
proximity sensors 16 are typically employed when parking the
vehicle 10 in order to prevent an object from contacting the
outermost surfaces 18 and 18a of the front bumper fascia 34 and the
rear pumper fascia 28, respectively. Specifically, when the
proximity sensors 16 or 16a detect an approaching object, the
vehicle operator is provided with a warning of potential contact
between the outermost surfaces 18 or 18a and the approaching
object. The operation of the proximity detection systems are
conventional and therefore are well known. Consequently, further
description of such proximity detection systems is omitted for the
sake of brevity.
[0035] The object detection system 12 of the vehicle 10 as
described below is a height detection system for the purpose of
preventing contact between a detected object that is lower than the
height of the outermost surfaces 18 and 18a, and could be
overlooked by the proximity detection system. Hence, the object
detection system 12 compliments and can work simultaneously with
the proximity detection system.
[0036] The object detection system 12 can be operated in a number
of differing modes, as is described below. Typically, the object
detection system 12 is enabled automatically when the vehicle 10 is
in reverse (backing up) and/or parking. However, the vehicle
operator can also utilize the control panel 58 to engage the object
detection system 12 manually. The object detection system 12 can
operate under a variety of circumstances, but is preferably engaged
when the vehicle 10 is in reverse (backing up) or moving at a slow
rate of speed, for example, under 10 mph. The object detection
system 12 operates to perform several functions simultaneously. One
function is to detect objects that have a low height and are
located within any one of a plurality of predetermined areas
adjacent to surfaces of the vehicle 10. Specifically, the object
detection system 12 is configured to detect objects within any of
the areas A.sub.1, A.sub.2, A.sub.3 and/or A.sub.4. Another
function of the object detection system 12 is to determine the
height and distance of any objects detected within any of the areas
A.sub.1, A.sub.2, A.sub.3 and/or A.sub.4 relative to the underside
section 14.
[0037] The object detection system 12 can be part of, or an add-on
feature to an around view monitoring (AVM) system described in, for
example, U.S. Patent Application Publication No. 2010/0238051,
published Sep. 23, 2010 (application Ser. No. 12/680,423), U.S.
Patent Application Publication No. 2012/0069182, published Mar. 22,
2012 (application Ser. No. 13/232,146), and U.S. Pat. No.
8,243,994, issued Aug. 14, 2012 (application Ser. No. 12/298,837)
all commonly assigned to Nissan Motor Co. Ltd. The disclosures of
U.S. Patent Application Publication No. 2010/0238051, U.S. Patent
Application Publication No. 2012/0069182, and U.S. Pat. No.
8,243,994 are incorporated herein by reference in their entirety.
Further, as mentioned above, the object detection system 12 can be
added on or be part of the above described proximity detection
system.
[0038] As mentioned above, the operation of the object detection
system 12 is described below, with the underside section 14 being
the lower surface 32 of the front bumper fascia 34. Specifically,
the underside section 14 relative to the area A.sub.1 is defined as
the lower surface 32 of the front bumper fascia 34 since the lower
surface 32 is the first surface of the vehicle 10 that an object
might contact with the vehicle 10 moving forward toward the object.
The underside section 14 as used herein is limited to those
surfaces of the vehicle 10 that are below and inboard relative to
the outermost surfaces 18 and 18a. Therefore, it should be
understood from the drawings and the description herein that when
the vehicle 10 is backing up, the underside section 14 relative to
the area A.sub.2 is a lower surface of the rear bumper fascia 38
since the lower surface of the rear bumper fascia 38 is a surface
of the vehicle 10 that an object with a height lower than the
outermost surface 18a might contact with the vehicle 10 moving
rearward toward the object. As well, the underside section 14
relative to the areas A.sub.3 and A.sub.4 can be defined as a lower
surface of the corresponding side of the vehicle 10 (for example,
the vehicle doors or quarter panels) or the wheels 36 since the
sides of the vehicle 10 and/or the wheels 36 are the first
surface(s) of the vehicle 10 that an object with a height lower
than the outermost surfaces 18 and 18a might contact with the
vehicle 10 moving toward the object during, for example, a parallel
parking maneuver. The object detection system 12 is configured to
provide the vehicle operator with object contact avoidance
information that the vehicle operator can use to prevent the
underside section(s) 14 of the vehicle 10 from making contact with
relatively short objects adjacent to the vehicle 10. The provided
information can be a visual representation of the underside surface
34 with a visual representation of the detected object, and/or an
audible signal. The visual representations can be video images
and/or computer generated images, as described in greater detail
below, and are in addition to warnings and/or visual information
that is provided the proximity detection system connected to the
proximity sensors 16 and 16a.
[0039] The lower surface 32 (and each of the possible underside
sections 14) is located at a predetermined height above ground G
beneath the vehicle body structure 20 and beneath or lower than the
outermost surfaces 18 and 18a. The object detection system 12 is
provided with information stored in memory and/or manually inputted
with the predetermined height of the subject underside section 14.
As the object detection system 12 detects the proximity of an
object, the height of the object is detected and determined as well
in order to provide such information to the vehicle operator about
the height of the detected object relative to the height of the
underside section 14, as described in greater detail below.
[0040] The front camera 40, the rear camera 42, the passenger's
side camera 44 and the driver's side camera 46 (a plurality of
cameras) are sensing devices configured to detect the presence of
an object and the height of an object within a prescribed area
adjacent to the underside section 14 of the vehicle body structure
20 as the vehicle body structure approaches a detected object.
[0041] Further, the front sensor 48, the rear sensor 50, the
passenger's side sensor 52 and the driver's side sensor 54 (a
plurality of sensors) are also sensing devices configured to detect
the presence of an object and the height of an object within a
prescribed area adjacent to the underside section 14 of the vehicle
body structure 20 as the vehicle body structure 20 approaches a
detected object.
[0042] The vehicle 10 can also include a rear hatch or rear trunk
lid (not shown). The rear hatch or rear trunk lid in many vehicles
can be opened via use of a sensor beneath the vehicle that detects
movement of a person's foot adjacent to the rear of the vehicle 10.
The rear sensor 50 can be connected to the latch/opening mechanism
of the rear hatch or rear trunk lid for the purpose of detecting
movement and opening the rear hatch or trunk lid. Thus, the rear
sensor 50 can have multiple purposes within the vehicle 10.
[0043] The plurality of cameras and/or the plurality of sensors
provide data (object information) to the controller 62. The
controller 62 is configured to process object information received
from the plurality of cameras and the plurality of sensors (sensing
devices) in order to determine the height of the object, and
display images on the video display 56 representing the object
along with a representation of the height of the object relative to
the predetermined height of the underside section 14 and images
representing the underside section 14 of the vehicle 10.
[0044] In the first embodiment described below, the plurality of
cameras and the plurality of sensors can provide differing types of
object information to the controller 62. Specifically, images are
provided by the plurality of cameras and detection data is provided
by the plurality of sensors. The controller 62 generates both
computer generated images and video images to the video display 56.
Specifically, the images shown in FIGS. 4-6, 11 and 13 and the
right side of FIG. 7, are computer generated images or faux images
that represent surfaces of the vehicle 10 along with surfaces that
represent the detected object updated continuously by the
controller 62 as the vehicle 10 moves relative to the object. The
images shown in the left side of FIG. 7 and in FIGS. 8-10 and 12,
on the other hand, are video images from the plurality of cameras
along with a superimposed representation of the side surfaces of
the vehicle 10.
[0045] However, it should be understood from the drawings and the
description herein that the object detection system 12 can operate
effectively with only the plurality of sensors serving as the
sensing devices, as described with respect to a second embodiment
described below. Similarly, it should be understood from the
drawings and the description herein that the object detection
system 12 can operate effectively with only the plurality of
cameras serving as the sensing devices, as described with respect
to a third embodiment described below.
[0046] In the first embodiment, the plurality of cameras are
configured to provide images of the prescribed area(s) (the areas
A.sub.1, A.sub.2, A.sub.3 and/or A.sub.4) adjacent to the
corresponding underside section 14 of the vehicle body structure 20
with a representation of the vehicle 10 superimposed on the video
display 56, as indicated in FIGS. 7-10 and 12, along with images of
any objects within the prescribed area(s). Specifically, the front
camera 40 captures images of the area A.sub.1 adjacent to the front
of the vehicle 10. The rear camera 42 captures images of the area
A.sub.2 adjacent to the rear of the vehicle 10. The passenger's
side camera 44 captures images of the area A.sub.3 adjacent to the
passenger's side of the vehicle 10. The driver's side camera 46
captures images of the area A.sub.4 adjacent to the driver's side
of the vehicle 10. The images captured by the plurality of cameras
in the first embodiment mainly provide visual object location
information. Conventional cameras can only provide a vehicle
operator with object location information relative to visible
surfaces of the vehicle 10. More specifically, the images captured
by the plurality of cameras can only provide the vehicle operator
with an image of the object as the object approaches an outermost
adjacent surface of the vehicle 10 as the vehicle approaches the
object. These captured images do not necessarily provide the
vehicle operator with information concerning the height of the
object relative to unseen surfaces of the vehicle 10, such as the
lower surface 32 of the front bumper fascia 34. However, the
controller 62 can utilize the captured images from the plurality of
cameras to determine the height of an approaching object. For
example, the controller 62 can be further configured to calculate
the height of surfaces of detected objects based upon images
captured by the plurality of cameras, in combination with detection
of vehicle speed. Using observed changes in geometric relationships
between surfaces of detected objects, in combination with known
distances traveled (based on speed), heights and distances can be
determined by the controller 62. Still further, the controller 62
can use the captured images to create computer generated images of
the detected object in order to better depict the detected object
on the video display 56, even after the detected object is no
longer within the viewing area corresponding to the view depicted
in the AVM mode.
[0047] In the first embodiment, the plurality of sensors provide
object detection information within the prescribed area(s) (the
areas A.sub.1, A.sub.2, A.sub.3 and/or A.sub.4) adjacent to the
corresponding underside section 14 of the vehicle body structure 20
and also provide object height information to the controller 62.
Specifically, the front sensor 48 captures object information from
the area A.sub.1 adjacent to the front of the vehicle 10. The rear
sensor 50 captures object information from the area A.sub.2
adjacent to the rear of the vehicle 10. The passenger's side sensor
52 captures object information from the area A.sub.3 adjacent to
the passenger's side of the vehicle 10. The driver's side sensor 54
captures object information from the area A.sub.4 adjacent to the
driver's side of the vehicle 10. The captured object information by
the plurality of sensors includes object height information and
object distance information.
[0048] The plurality of cameras (the front camera 40, the rear
camera 42, the passenger's side camera 44 and the driver's side
camera 46) includes conventional video cameras that capture images
and indications of relative movement of objects within each
camera's field of vision and transmit those images to the
controller 62. Since video cameras are conventional devices,
further description is omitted for the sake of brevity.
[0049] The plurality of sensors (the front sensor 48, the rear
sensor 50, the passenger's side sensor 52 and the driver's side
sensor 54) can be any of a plurality of differing types of sensors
often referred to as detection and ranging sensors or devices.
Specifically, each of the plurality of sensors includes an emitting
section (not shown) and a detecting section (not shown). The
emitting section emits a prescribed signal and the detecting
section detects returning signals that are reflected back from
surfaces of nearby objects. For example, each of the plurality of
sensors can be a sonar emitting and detecting device, a radar
emitting and detecting device, an infrared emitting and detecting
device and/or a laser light emitting and light detecting device
(i.e. LIDAR). Further, the plurality of sensors can be rigidly
fixed to the corresponding surfaces of the vehicle 10.
Alternatively, the plurality of sensors can be attached to the
vehicle 10 for pivotal movement about a pivot axis or articulating
mount. The pivotal movement of each of the plurality of sensors can
be controlled by the controller 62 or can be a part of the scanning
capability of each of the sensors in the determination of height
and distance to a detected object. Since detection and ranging
sensors are conventional devices, further description is omitted
for the sake of brevity.
[0050] The controller 62 is configured to display object
information on the video display 56 in a plurality of differing
formats. For example, the controller 62 and video display 56 can
operate in at least a side view mode, an around view monitor mode
(AVM mode) and a parallel parking view mode. In the description
below for operation in the side view mode and the AVM mode, the
front bumper fascia 34 (and/or an attached front or chin spoiler)
is considered as the vehicle 10 moves the front bumper fascia 34
toward an object B.sub.1. This description is equally applicable to
the vehicle 10 as the rear bumper fascia 38 is moved toward another
object (not shown). In other words, the object detection system 12
operates exactly the same with reference to objects to the front of
the vehicle 10 and with reference to objects to the rear of the
vehicle 10.
[0051] The operation of the controller 62 and video display 56 in
the side view mode is demonstrated in FIGS. 4-6. Specifically, FIG.
4 is a depiction of images shown on the video display 56 that are
generated by the controller 62 based upon object information from
the front camera 40 and/or object information from the front sensor
48. In the depicted embodiment of FIGS. 4-6, the object information
relating to distance and height is captured by the front sensor 48.
The video display 56 shows a computer generated representation of
the front bumper facia 34 of the vehicle 10 with a representation
of the height of the underside section 14 (the surface 32) above
the ground G. The controller 62 includes dimensions of the lower
surface 32 and of the front bumper fascia 34 stored in the memory
60 and/or preprogrammed into the software that determines the
operations of the controller 62. The controller 62 causes the video
display 56 to display a computer generated representation of an
object B.sub.1 detected at a first distance away from the lower
surface 32 (the first example of the underside section 14) of the
front bumper fascia 34. The height of the object B.sub.1 determined
by the sensor 48 is lower than the outermost surface 18 of the
front bumper fascia 34 but is higher than the lower surface 32 of
the front bumper fascia 34. Therefore, it is possible to move the
vehicle 10 to a location where a portion of the front bumper fascia
34 can be brought above the object B.sub.1. However, by observing
the computer generated images shown in FIGS. 4-6, the vehicle
operator can avoid having the object B.sub.1 contact the lower
surface 32 of the front bumper fascia 34. Further, the controller
62 can generate a rhomboidal or rectangular representation of the
object B.sub.1 using the detected closest point of the object
B.sub.1 and the detected height of the object B.sub.1. This
computer generated representation can then be displayed on the
video display 56 in the simulated side view (FIGS. 4-6) or the
simulated rear side view (FIG. 13).
[0052] As the vehicle 10 moves closer to the object B.sub.1, the
controller 62 updates the video display 56 based on the
continuously provided object information from the front camera 40
and the front sensor 48, as shown in FIG. 5. Specifically, FIG. 5
is another representation of computer generated images produced by
the controller 62 and displayed by the video display 56 showing the
object B.sub.1 at a second distance away from the lower surface 32
of the vehicle 10, closer than the first distance shown in FIG. 4.
As the vehicle 10 continues to move closer to the object B.sub.1,
the controller 62 further updates the video display 56 based on the
continuously provided object information from the front camera 40
and the front sensor 48, as shown in FIG. 6. FIG. 6 is yet another
representation of the video display 56 showing the object B.sub.1 a
third distance away from the lower surface 32 of the vehicle 10,
closer than the first and second distances shown in FIGS. 4 and 5.
Since the sensor 48 has detected the height of the object B.sub.1
and the distance of the object B.sub.1 away from the lower surface
32 of the vehicle 10, the vehicle operator can make informed
decisions regarding the movement of the vehicle 10 near and
possibly above the object B.sub.1.
[0053] The controller 62 is further configured to generate an
audible alarm for the benefit of the vehicle operator in response
to the controller 62 determining that the underside section 14 (the
lower surface 32) is less than a predetermined distance away from
the object B.sub.1. For example, the predetermined distance can be
one meter, fifty centimeters, twenty five centimeters or a manually
entered amount set by the vehicle operator via the control panel
58.
[0054] The operation of the controller 62 and video display 56 in
the AVM mode is demonstrated in FIGS. 7-10. FIG. 7 is a depiction
of the entire screen of the video display 56, with a left hand
section showing the AVM mode view and a right hand section showing
computer generated images also shown in FIG. 4 (side view mode).
The vehicle operator can select one or both types of images, AVM
mode view and/or side view mode. Alternatively, as indicated in
FIG. 7, both the AVM mode and the side view mode can be utilized
simultaneously. Thus, a vehicle operator can see on the display 56
an accurate depiction of the height of the lower surface 32 and the
height of the object B 1, as well as the AVM view showing overhead
images of the areas surrounding the vehicle 10. FIGS. 8-10 only
show the left hand section of the video display 56 since the side
view mode has already been described with respect to FIGS. 4-6.
However, it should be understood from the drawings and the
description herein that the video display 56 can have any of a
variety of shapes and configurations. Furthermore, the depictions
in FIGS. 8-10 can alternatively represent the full depiction of the
video display 56, if the vehicle operator selects the AVM mode
only.
[0055] FIG. 8 is a depiction of the video display 56 just after the
controller 62 has detected the object B.sub.1. The images shown on
the video display 56 are transmitted from the controller 62 and are
taken from object information (video images) captured by the front
camera 40 and supplemented by further object information from the
front sensor 48. The video display 56 shows video images of the
object B.sub.1, along with a representation of the entire vehicle
10. Further, the video display 56 also shows the object B.sub.1
detected at a first distance away from the lower surface 32 of the
front bumper fascia 34 (the underside section 14) of the vehicle
10. In FIGS. 7-10, the controller 62 generates a dashed line that
represents the lower surface 32 thus providing the vehicle operator
with an indication in the AVM mode views of the underside section
14 to be protected from contact with a detected object.
[0056] As the vehicle 10 moves closer to the object B.sub.1, the
controller 62 updates the video display 56 based on the
continuously provided object information from the front camera 40
and the front sensor 48, as shown in FIG. 9. Specifically, FIG. 9
is another representation of the video display 56 showing the
object B.sub.1 a second distance away from the lower surface 32 of
the front bumper fascia 34 the vehicle 10, closer than the first
distance shown in FIG. 8. As the vehicle 10 continues to move
closer to the object B.sub.1, the controller 62 further updates the
video display 56 based on the continuously provided object
information from the front camera 40 and the front sensor 48, as
shown in FIG. 10. FIG. 10 is yet another representation of the
video display 56 showing the object B.sub.1 being at least
partially beneath the vehicle 10 and approaching the lower surface
32 of the front bumper fascia 34. Consequently, in FIG. 10, the
controller 62 has generated a faux representation of the object
B.sub.1 so that the vehicle operator has a sense of the location of
the object B.sub.1 relative to the lower surface 32 of the front
bumper fascia 34 the vehicle 10. In the AVM mode, since the
controller 62 has determined the height of the object B.sub.1
relative to the height of the lower surface 32 of the front bumper
fascia 34 (the underside section 14), the controller 62 can provide
warnings in the form of text on the video display 56 and/or audible
warnings indicating the proximity of the object B.sub.1 relative to
the lower surface 32 (the underside section 14) of the front bumper
fascia 34 the vehicle 10. For example, the controller 62 can be
programmed to provide a first audible warning signal when the
object is a first distance away from the underside section 14 of
the vehicle 10. As the vehicle 10 moves closer to the object
B.sub.1, the controller 62 can issue a second audible warning,
different from the first warning. Further, when the object B.sub.1
approaches the underside section 14, the controller 62 can issue a
third audible warning different from the first and second audible
warnings to provide the vehicle operator with adequate warnings of
the proximity of the object B.sub.1 to surfaces of the vehicle 10,
including the surface that defines the underside section 34.
Consequently, the vehicle operator can make an informed decision
and can decide whether or not to continue movement toward the
object B.sub.1. The first, second and third audible warning signals
are preferably different from any audible signals produced by the
conventional proximity detection system that are produced as a
result of taller objects detected by the proximity sensors 16 and
approaching the outermost surfaces 18 and 18a.
[0057] It should be understood from the above description that the
controller 62 monitors the output of each of the plurality of
sensors and the plurality of cameras. Therefore, the above
detection of the presence, height and relative location of the
object B.sub.1 and the images produced by the controller 62 on the
video display 56 applies equally to objects detected in any of the
areas A.sub.2, A.sub.3 and A.sub.4 and their possible contact with
a corresponding underside section 14 located at a corresponding one
of the rear, passenger's side and/or driver's side of the vehicle
10.
[0058] The controller 62 can additionally provide warnings in the
form of differing colorings of the object B.sub.1 in the depictions
of the object B.sub.1 in both the side view mode (FIGS. 4-6) and in
the AVM mode (FIG. 8-10). Specifically, as the vehicle 10 moves
toward the object B.sub.1, the controller 62 can define several
critical distances. For example, when the object B.sub.1 is first
detected by the controller 62 within the prescribed area (i.e.,
area A.sub.1), the object B.sub.1 can be shown in a first color
such as the color green. Once the object B.sub.1 is less than a
first critical distance from the underside section 14, but safely
distanced from the vehicle 10, the controller 62 can display the
object B.sub.1 in a second color, such as yellow, as a warning to
the vehicle operator that the vehicle is approaching the object
B.sub.1. Once the object B.sub.1 is less that a second critical
distance from the underside section 14 (but much closer than the
first critical distance), the controller 62 can display the object
B.sub.1 in a third color, such as red, as a warning to the vehicle
operator that the vehicle is approaching the object B.sub.1.
Further, if the controller 62 detects that the object B.sub.1 has a
height greater than the height of the underside section 14, once
the object B.sub.1 is within the second critical distance, the
controller 62 can display the object B.sub.1 in the third color
(red) but further cause the third color to blink or flash on and
off as a warning to the vehicle operator that the object B.sub.1
will contact the underside section 14 if the vehicle 10 continues
to move to a location where the vehicle 10 will at least partially
cover the object B.sub.1.
[0059] In other words, the controller 62 is configured to determine
whether or not the height of the object B.sub.1 is such that it can
collide with any outboard surface of the vehicle 10 as well as any
surface that defines the underside section 14 of the vehicle 10.
Consequently, the controller 62 can provide a vehicle operator with
a visual representation of the height of the detected object
relative to the height of the underside section 14, such that the
vehicle operator can safely decide whether or not to park the
vehicle 10 with a portion of the vehicle 10 covering a detected
object where the controller 62 has determined that the detected
object has a height that is less than the height of the underside
section 14 of the vehicle 10.
[0060] In FIGS. 4-6 and 8-10, the object B.sub.1 had a
geometrically simple shape, such as a rectangle. More specifically,
the object B.sub.1 was, for example, a concrete barrier in a
parking lot commonly known as a parking stop. A vehicle parking in
a parking space with a parking stop typically approaches the
parking stop slowly until the wheels of the vehicle contact the
parking stop. However, in vehicles with low underside sections,
where the underside section 14 is lower than the height of the
parking stop, the vehicle operator may bring the underside section
14 into unwanted contact with the parking stop. The object
detection system 12 provides the vehicle operator with visual
information that informs the vehicle operator as to whether or not
the underside section 14 is likely to contact an object such as the
parking stop.
[0061] However, there are many differently shaped objects that can
cause a vehicle operator concern when parking or maneuvering the
vehicle 10 in a confined space. For example, in FIG. 11 an object
B.sub.2 has an irregular shape. In FIG. 11, the object B.sub.2
represents an obstacle such as, for example, a boulder or a pile of
plowed packed snow that may be of some concern to a vehicle
operator. The object detection system 12 can determine the height
and location of surfaces of interest of the object B.sub.2 relative
to the underside section 14 of the vehicle 10 and can additionally
determine the height and location of multiple surfaces of the
object B.sub.z.
[0062] The object B.sub.2 shown in FIG. 11 has multiple surfaces
with multiple corresponding heights. The object detection system
12, using the object information from either or both the front
camera 40 and the front sensor 48, detects both the heights of the
surfaces S.sub.1 and S.sub.2 closest to the vehicle 10 and to the
underside section 14 (for example, the lower surface 32 of the
front bumper fascia 34). FIG. 11 is a depiction of operation of the
controller 62 and the video display 56 operating in the side view
mode showing at least the surface S.sub.1 and the surface S.sub.2
of the object B.sub.2. Clearly the surface S.sub.1 is lower than
the height of the lower surface 32 of the front bumper fascia 34
(the underside section 14) and the surface S.sub.2 is above the
height of the lower surface 32 of the front bumper fascia 34 (the
underside section 14). As the vehicle 10 approaches, the proximity
sensors 16 will detect the presence of the surface S.sub.2 and can
issue an appropriate warning to the vehicle operator. However, the
front camera 40 and the front sensor 48 detect the height and
distance to the surface S.sub.1 and can provide the vehicle
operator with a separate warning and sufficient information for the
vehicle operator to decide how close to move toward the object
B.sub.2. The above described visual (color) and audio warnings can
also be generated by the controller 62 for of the surface S.sub.1.
Warnings for the surface S.sub.2 are provided by the proximity
detection system driven by the proximity sensors 16.
[0063] The object B.sub.2 is shown in FIG. 12 as displayed on the
video display 56 with the controller 62 and the video display 56
operating in the AVM mode. The object B.sub.2 is shown as an image
captured by the front camera 40. Additionally, planar or linear
representations of the surface S.sub.1 and the surface S.sub.2 of
the object B.sub.2 are superimposed on the video display 56 by the
controller 62. Specifically, the controller 62 generates a tangent
line S.sub.1a drawn tangent to the closest point of potential
contact along surface S.sub.1 to give a planar representation of
the surface S.sub.1, and generates a tangent line S.sub.2a tangent
to the closest point of contact along surface S.sub.2 to give a
planar representation the surface S.sub.2 of the object B.sub.2.
The line S.sub.1a and the line S.sub.2a are tangent lines displayed
on the video display 56 relative to the images representing the
vehicle 10.
[0064] By using both the side view mode and the AVM mode to display
the captured object information, the vehicle operator can determine
how close the vehicle 10 can be moved toward the object B.sub.2
without the underside section 14 contacting the surface S.sub.1 and
the surface S.sub.2 of the object B.sub.2.
[0065] FIGS. 13 and 14 represent a circumstance where the object
detection system 12 detects an object in an area adjacent to one
side of the vehicle 10. The description relating to FIGS. 13 and 14
is with respect to the area A.sub.3 as monitored by the passenger's
side camera 44 and the passenger's side sensor 52. However, the
description applies equally to the area A.sub.4 as monitored by the
driver's side camera 46 and the driver's side sensor 54.
[0066] In FIG. 13, the controller 62 is operating in the parallel
parking view mode and has generated images representing an object
B.sub.3. The object B.sub.3 is, for example, a curb at the side of
a city street and FIGS. 13 and 14 represent maneuvers relating to
parallel parking. The surface of the object B.sub.3 is lower than
the height of the underside section 14, and specifically is lower
than the height of the lower surface 32 of the front bumper fascia
34. However, the outboard side surface 36a of the wheel 36 extends
down to the ground G, and is technically a portion of the underside
section 14. Therefore, the vehicle operator can benefit from object
information that reveals the proximity of the object B.sub.3
relative to the underside section 14, which includes the lower
surface 32 of the front bumper fascia 34 and the side surface of
the wheel 36.
[0067] In FIG. 14, the object B.sub.3 is displayed on the video
display 56 with the controller 62 and the video display 56
operating in the AVM mode. The object B.sub.3 is shown as an image
captured by the passenger's side camera 42. The warnings described
above with reference to the proximity of the objects B.sub.1 and
B.sub.2 equally apply to the detection of an object, such as the
object B.sub.3 at one of the sides of the vehicle 10.
[0068] A description is now provided for the flowchart depicted in
FIG. 15, which outlines the basic operation of the controller 62.
At step S1, the controller 62 is engaged to monitor the object
information and check operator-inputted parameters. The object
information is provided by one or more of the plurality of cameras
(the front camera 40, the rear camera 42, the passenger's side
camera 44 and the driver's side camera 46) and one or more of the
plurality of sensors (the front sensor 48, the rear sensor 50, the
passenger's side sensor 52 and the driver's side sensor 54). The
operator-inputted parameters are described below.
[0069] The controller 62 typically engages the object detection
system 12 automatically when the vehicle operator operates the
vehicle 10 in reverse or at slow speeds (e.g. under 10 mph). In
other words, the controller 62 is configured to automatically
detect when the vehicle 10 is being operated for delicate
maneuvers, such as parking, or maneuvering in a confined space,
such as a driveway or parking garage.
[0070] Alternatively, the vehicle operator can manually select for
one or all of the plurality of cameras and a corresponding one or
more of the plurality of sensors to be activated via input using
the control panel 58. If the vehicle 10 is being operated to park
the vehicle 10 moving in a forward direction, the vehicle operator
can engage only the front camera 40 and only the front sensor 48 to
monitor the area A.sub.1 in front of the vehicle 10 to detect
objects such as the object B.sub.1. If the vehicle operator has
selected the side view mode of operation, only images such as those
shown in FIGS. 4-6 and 11 are generated by the controller 62 to
provide object detection for the benefit of the vehicle operator.
However, if the vehicle operator has selected the AVM mode of
operation, the controller 62 generates a combination of video
images and computer generated images such as those shown in FIGS.
7-10, 12 and 14 based on images captured by all of the plurality of
cameras and object information detected by all of the plurality of
sensors. If the vehicle operator has selected the parallel parking
mode, only images similar to that represented in FIG. 13 are shown.
Specifically, in the parallel parking view mode, one or both of the
passenger's side of the vehicle (area A.sub.3) and the driver's
side of the vehicle 10 (area A.sub.4) are monitored thereby
generating images on the video display 56 similar to the view shown
in FIG. 13. The vehicle operator can set a warning sensitivity. For
example, the vehicle operator can input that audible and visual
warnings begin being generated by the controller 62 at selected
distances away from the vehicle 10. If no level of warning
sensitivity has been selected or inputted by the vehicle operator,
the controller 62 uses default warning sensitivity settings.
[0071] The video display 58 can also be manually or automatically
engaged by the controller 62 to simultaneously show combinations of
images corresponding to the side view mode, the AVM mode and/or the
parallel parking mode.
[0072] However, the controller 62 is preferably configured to
automatically operate in the AVM mode generating images such as
those shown in FIGS. 7-10, 12 and 14, and automatically switch or
simultaneously depict views in the side view mode (FIGS. 4-6 and
11) and/or parallel parking mode (FIG. 14) when an object is
detected approaching any one of the four sides of the vehicle 10
(the front side and area A.sub.1, the rear side and area A.sub.2,
the passenger's side and area A.sub.3 and/or the driver's side and
area A.sub.4).
[0073] As mentioned above, at step S1, the controller 62 checks any
parameters that may have been changed relative to factory settings.
For example, if there has been a change in the vehicle body
dimensions, the controller 62 detects these changes and alters the
computer generated images sent to the video display 58 accordingly.
If the vehicle 10 has been modified using, for example, an
aftermarket body kit that protrudes from the original factory set
vehicle body structure dimensions, the controller 62 can make
appropriate adjustments to the depicted images and the object
detection settings, such as the threshold for providing an audio or
visual alarm indicating proximity of a detected object. One such
aftermarket body kit can include a rear or front spoiler that
lowers the height of the defined underside section 14, making
detection of the height of approaching objects a greater concern.
Hence, the controller 62 can determine whether or not the height of
the underside section 14 has been re-set by a technician or the
vehicle operator. Computer generated images of the underside
section(s) 14 of the vehicle body structure 20 can then be modified
based on the changed parameters.
[0074] At step S2, the controller 62 determines whether or not an
object has been detected in area A.sub.1, area A.sub.2, area
A.sub.3 and/or area A.sub.4 adjacent to the vehicle 10 and whether
or not the detected object has a height that is greater than the
height of the outermost surface 18 or 18a. If no object has been
detected shorter than the outermost surface 16 or 16a, operation
moves to step S3 where appropriate images are displayed on the
video display 56. At step S2, if an object shorter than the
outermost surface 16 or 16a has been detected, operation moves to
step S4 where object information from the plurality of sensors and
plurality of cameras is evaluated. It should be understood that any
detected object with a height above the outermost surface 18 or 18a
will be detected by the proximity detection system and appropriate
warnings will be provided in response to object information
detected by the proximity sensors 16 and/or 16a.
[0075] At step S4, the controller 62 evaluates the object data
captured by the appropriate one of the plurality of cameras and the
appropriate one of the plurality of sensors and generates
appropriate images and representations of the detected object. The
memory 60 includes a representation of a parking stop (object
B.sub.1) and a curb (object B.sub.3). These representations can
include a rectangular representation of the detected object as
eventually viewed on the video display 56. The rectangular
representations can be resized to have a height corresponding to
the detected height of the detected object. The shapes and
dimensions of the vehicle 10 stored in the memory 60 can also be
re-set or re-dimensioned in response to modification to the
physical dimensions of the vehicle 10. For example, if an
aftermarket bumper fascia or spoiler has been added to the vehicle
10, the overall dimensions of the vehicle 10 can be changed.
Further, the controller 62 can adjust the dimensions of the vehicle
10 in response to vehicle suspension changes. For example, if the
vehicle 10 is provided with air pressure controlled suspension,
distances between surfaces of the vehicle and the ground can change
as a result of adjustments to the air suspension. The controller 62
can make appropriate adjustments to the dimensions of the vehicle
stored in memory. The controller 62 can further include a data
entry updating capability that enables modifications to the preset
vehicle data stored in the memory 60. At step S4, the controller 62
can use the captured sensor data relating to the detected object,
and use the information stored in the memory 60 in order to
generate an image to represent the detected object. The generated
image can be a straight line (for the side view) indicating a plane
that coincides with the closed point or surface of the detected
object relative to the underside section 14. Alternatively, in the
AVM view, the image can be a video image captured from one of the
plurality of cameras.
[0076] At step S5, the object information corresponding to the
currently detected object is displayed on the video display 56, and
operation proceeds to step S6. The information displayed depends
upon which mode the controller 62 is operating in. In the AVM mode,
images captured by the plurality of cameras are displayed on the
video display 56 along with the planar representation(s) of
surfaces of the identified object. In the side view mode and
parallel parking view mode, computer generated images are generated
by the controller 62. Operation then moves to step S6.
[0077] At step S6, the controller 62 evaluates the object
information of the detected object and determines whether or not
the height or heights of the surface or surfaces of the detected
object are higher or lower than the height of the underside section
14. If the detected object has one or more surfaces that are above
the prescribed height of the underside section 14, then operation
moves to step S7. Further, if the controller 62 cannot determine
the height of a detected object, then operation also moves to step
S7 where the height of the detected object is assumed to be above
the prescribed height of the underside section 14. If the detected
object is shorter than the prescribed height of the underside
section 14, then operation moves to step S9.
[0078] At step S7, the identified object has a surface or surfaces
that are above the prescribed height of the adjacent underside
section 14. If the controller 62 determines in step S7 that there
is a possibility of contact between the detected object and the
underside section 14, operation moves to step S8. If the controller
62 determines in step S9 that there is currently no possibility of
contact between the detected object and the underside section 14,
operation moves to step S9.
[0079] At step S8, a warning signal is generated by the controller
62. The warning signal can be a visual warning on the video display
56 showing the surface of the detected object approaching the
underside section 14, and/or can be an audible signal, such as a
repeated beeping flowed by a continuous noise when contact appears
imminent.
[0080] At step S9, the controller 62 returns to step S1 for
continuous object detection by the plurality of cameras and the
plurality of sensors until vehicle conditions dis-engage the object
detection system 12 by, for example, turning the engine off or
resuming normal driving of the vehicle 10 at speeds above, for
instance, 10 mph.
[0081] The object detection system 12 can be modified in any of a
variety of ways. For example, in some vehicles only a part of the
object detection system 12 may be installed. Specifically, in some
vehicles the only object detection required can be at the rear of
the vehicle 10. In such a vehicle, the front camera 40, the
passenger's side camera 44, the driver's side camera 46, the front
sensor 48, the passenger's side sensor 52 and the driver's side
sensor 54 are all eliminated. Instead, only the rear camera 42 and
the rear sensor 50 are included to detect objects in the area
A.sub.2, rearward of the vehicle 10 when the vehicle 10 is being
backed up (in reverse).
[0082] Other modifications are also possible, as set forth in the
second and third embodiments described below.
Second Embodiment
[0083] Referring now to FIG. 16, an object detection system 112 in
accordance with a second embodiment will now be explained. In view
of the similarity between the first and second embodiments, the
parts of the second embodiment that are identical to the parts of
the first embodiment will be given the same reference numerals as
the parts of the first embodiment. Moreover, the descriptions of
the parts of the second embodiment that are identical to the parts
of the first embodiment may be omitted for the sake of brevity.
[0084] In the second embodiment, the object detection system 112
includes many of the features described above with respect to the
first embodiment, such as the front sensor 48, the rear sensor 50,
the passenger's side sensor 52, the driver's side sensor 54, the
video display 56, the control panel 58, the memory 60 and the
controller 62. However, in the second embodiment, the plurality of
cameras is eliminated.
[0085] In the second embodiment, the plurality of sensors (the
front sensor 48, the rear sensor 50, the passenger's side sensor 52
and the driver's side sensor 54) captures all object information.
The images generated by the controller 62 on the video display 56
are computer generated images generated by the controller 62.
Third Embodiment
[0086] Referring now to FIG. 17, an object detection system 212 in
accordance with a third embodiment will now be explained. In view
of the similarity between the first and third embodiments, the
parts of the third embodiment that are identical to the parts of
the first embodiment will be given the same reference numerals as
the parts of the first embodiment. Moreover, the descriptions of
the parts of the third embodiment that are identical to the parts
of the first embodiment may be omitted for the sake of brevity.
[0087] In the third embodiment, the object detection system 212
includes many of the features described above with respect to the
first embodiment, such as the front camera 40, the rear camera 42,
the passenger's side camera 44, the driver's side camera 46, the
video display 56, the control panel 58, the memory 60 and the
controller 62. However, in the second embodiment, the plurality of
sensors is eliminated.
[0088] In the third embodiment, the plurality of cameras (the front
camera 40, the rear camera 42, the passenger's side camera 44 and
the driver's side camera 46) captures all object information. The
front camera 40, the rear camera 42, the passenger's side camera 44
and the driver's side camera 46 can each include a stereo imaging
capability such that each of the plurality of cameras has depth
perception capability. Further, the controller 62 can be further
configured to calculate the heights of surfaces on detected objects
based upon images captured by the plurality of cameras, in
combination with detection of vehicle speed. Using observed changes
in geometric relationships between surfaces of detected objects, in
combination with known distances traveled (based on speed), heights
and distances can be determined by the controller 62.
[0089] The controller 62 preferably includes a microcomputer with
an object detection program that processes images from the
plurality of cameras and processes object information detected by
the plurality of sensors. The controller 62 further generates
images that are transmitted to the video display 56 and further
controls the video display 56. The controller 62 can also include
other conventional components such as an input interface circuit
connected to the control panel 58, the cameras and the sensors, an
output interface circuit connected to the video display 56 and an
audio signal generator (not shown) for emitting audible warnings,
and storage devices such as a ROM (Read Only Memory) device and a
RAM (Random Access Memory) device, and the memory 60.
[0090] It will be apparent to those skilled in the art from this
disclosure that the precise structure and algorithms for the
controller 62 can be any combination of hardware and software that
will carry out the functions of the present invention.
[0091] Various vehicle and vehicle body structure elements are
conventional components that are well known in the art. Since these
elements and components are well known in the art, these structures
will not be discussed or illustrated in detail herein. Rather, it
will be apparent to those skilled in the art from this disclosure
that the components can be any type of structure and/or programming
that can be used to carry out the present invention.
GENERAL INTERPRETATION OF TERMS
[0092] In understanding the scope of the present invention, the
term "comprising" and its derivatives, as used herein, are intended
to be open ended terms that specify the presence of the stated
features, elements, components, groups, integers, and/or steps, but
do not exclude the presence of other unstated features, elements,
components, groups, integers and/or steps. The foregoing also
applies to words having similar meanings such as the terms,
"including", "having" and their derivatives. Also, the terms
"part," "section," "portion," "member" or "element" when used in
the singular can have the dual meaning of a single part or a
plurality of parts. Also as used herein to describe the above
embodiments, the following directional terms "forward", "rearward",
"above", "downward", "vertical", "horizontal", "below" and
"transverse" as well as any other similar directional terms refer
to those directions of a vehicle equipped with the object detection
system. Accordingly, these terms, as utilized to describe the
present invention should be interpreted relative to a vehicle
equipped with the object detection system.
[0093] The term "detect" as used herein to describe an operation or
function carried out by a component, a section, a device or the
like includes a component, a section, a device or the like that
does not require physical detection, but rather includes
determining, measuring, modeling, predicting or computing or the
like to carry out the operation or function.
[0094] The term "configured" as used herein to describe a
component, section or part of a device includes hardware and/or
software that is constructed and/or programmed to carry out the
desired function.
[0095] The terms of degree such as "substantially", "about" and
"approximately" as used herein mean a reasonable amount of
deviation of the modified term such that the end result is not
significantly changed.
[0096] While only selected embodiments have been chosen to
illustrate the present invention, it will be apparent to those
skilled in the art from this disclosure that various changes and
modifications can be made herein without departing from the scope
of the invention as defined in the appended claims. For example,
the size, shape, location or orientation of the various components
can be changed as needed and/or desired. Components that are shown
directly connected or contacting each other can have intermediate
structures disposed between them. The functions of one element can
be performed by two, and vice versa. The structures and functions
of one embodiment can be adopted in another embodiment. It is not
necessary for all advantages to be present in a particular
embodiment at the same time. Every feature which is unique from the
prior art, alone or in combination with other features, also should
be considered a separate description of further inventions by the
applicant, including the structural and/or functional concepts
embodied by such features. Thus, the foregoing descriptions of the
embodiments according to the present invention are provided for
illustration only, and not for the purpose of limiting the
invention as defined by the appended claims and their
equivalents.
* * * * *